CN116101299A - Slip angle estimation method applied to automatic driving - Google Patents

Slip angle estimation method applied to automatic driving Download PDF

Info

Publication number
CN116101299A
CN116101299A CN202310231765.5A CN202310231765A CN116101299A CN 116101299 A CN116101299 A CN 116101299A CN 202310231765 A CN202310231765 A CN 202310231765A CN 116101299 A CN116101299 A CN 116101299A
Authority
CN
China
Prior art keywords
vehicle
slip angle
automatic driving
angle estimation
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310231765.5A
Other languages
Chinese (zh)
Inventor
王奇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hozon New Energy Automobile Co Ltd
Original Assignee
Hozon New Energy Automobile Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hozon New Energy Automobile Co Ltd filed Critical Hozon New Energy Automobile Co Ltd
Priority to CN202310231765.5A priority Critical patent/CN116101299A/en
Publication of CN116101299A publication Critical patent/CN116101299A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/101—Side slip angle of tyre
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention provides a slip angle estimation method applied to automatic driving, which comprises the following steps: when a vehicle enters automatic driving and the speed of the vehicle exceeds a threshold value, estimating a slip angle; acquiring a speed value, a turning radius and vehicle parameters of the vehicle; calculating a slip angle in real time according to the vehicle speed value, the turning radius and the vehicle parameters; according to the value of the slip angle and the current state of the vehicle, carrying out rationality check on the slip angle; if the verification is passed, performing transverse control compensation according to the slip angle; if the verification is not passed, the transverse control compensation is not performed. According to the invention, the slip angle is estimated in real time in the running process, then the rationality verification is carried out on the estimated result of the real-time slip angle, and the real-time compensation is carried out on the slip angle passing the verification, so that the dynamic control of the automatic driving is more accurate and safer.

Description

Slip angle estimation method applied to automatic driving
Technical Field
The invention relates to the technical field of automatic driving control of vehicles, in particular to a slip angle estimation method applied to automatic driving.
Background
During running of the vehicle, when the steering wheel is rotated, the tire can laterally rotate to enable the tire to elastically deform, and as the tire of the vehicle has elasticity, the angle rotated by the tread and the hub is different due to the elastic deformation of the tire, and the angle of the difference is the slip angle.
When an autonomous vehicle is mounted on the vehicle, and the vehicle speed is higher than a certain value, the control accuracy is required to be higher in consideration of safety and comfort of the occupant. In the dynamic control of the vehicle, it is required to perform more precise control in consideration of the error of the slip angle.
At present, the physical quantity of the slip angle needs to be obtained by a sensor or other device and cannot be obtained directly. Therefore, there is a need for a slip angle estimation method applied to automatic driving to solve the above problems.
Disclosure of Invention
The technical problem solved by the invention is that the slip angle estimation method applied to automatic driving is provided, the slip angle of the vehicle can be estimated in real time according to the running state of the vehicle, and the slip angle after verification is compensated, so that the dynamic control of the automatic driving is more accurate and safer.
The invention solves the technical problems by adopting the following technical scheme:
a slip angle estimation method applied to automatic driving, comprising: when a vehicle enters automatic driving and the speed of the vehicle exceeds a threshold value, estimating a slip angle; acquiring a speed value, a turning radius and vehicle parameters of the vehicle; calculating a slip angle in real time according to the vehicle speed value, the turning radius and the vehicle parameters; according to the value of the slip angle and the current state of the vehicle, carrying out rationality check on the slip angle; if the verification is passed, performing transverse control compensation according to the slip angle; if the verification is not passed, the transverse control compensation is not performed.
In a preferred embodiment of the present invention, the step of obtaining the vehicle speed value, the turning radius and the vehicle parameter of the vehicle includes: and acquiring a vehicle speed value of the vehicle, and carrying out filtering smoothing calculation on the vehicle speed value.
In a preferred embodiment of the present invention, the step of obtaining the vehicle speed value, the turning radius and the vehicle parameter of the vehicle further includes: acquiring a lane line through a camera device; confirming a lane where the vehicle is located on a road according to the lane line, and calculating the curvature of a current path; and calculating the current turning radius according to the current path curvature.
In a preferred embodiment of the present invention, the vehicle parameters include: the distance from the mass center to the front and rear shafts, the whole vehicle mass and the cornering stiffness; the step of obtaining the vehicle speed value, the turning radius and the vehicle parameters of the vehicle further comprises the following steps: and acquiring the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the mass of the whole vehicle and the cornering stiffness.
In a preferred embodiment of the present invention, the vehicle state includes: vehicle travel speed, road turning radius, and backup quality.
In a preferred embodiment of the present invention, before the step of estimating the slip angle when the vehicle enters automatic driving and the vehicle speed of the vehicle exceeds a threshold value, the method includes: acquiring state information of the vehicle, and detecting whether the vehicle meets automatic driving requirements according to the state information; and when the vehicle meets the automatic driving requirement and the automatic driving function is started, confirming that the vehicle enters automatic driving.
In a preferred embodiment of the present invention, the step of estimating the slip angle before the step of performing the slip angle estimation when the vehicle enters the automatic driving and the vehicle speed of the vehicle exceeds a threshold value includes: and when the vehicle does not enter automatic driving or the vehicle speed does not exceed a threshold value, slip angle estimation and compensation are not performed.
In a preferred embodiment of the present invention, the step of verifying the rationality of the slip angle according to the value of the slip angle and the current state of the vehicle includes: acquiring a slip angle threshold value of the vehicle according to the current state of the vehicle; comparing the slip angle to the slip angle threshold; if the slip angle does not exceed the slip angle threshold value, confirming that the slip angle is reasonable; if the slip angle exceeds the slip angle threshold, confirming that the slip angle is not reasonable.
In a preferred embodiment of the present invention, the method further comprises: and executing the step of estimating the slip angle when the vehicle enters the automatic driving mode and the speed of the vehicle exceeds a threshold value when the vehicle is detected to enter the automatic driving mode.
An automated driving slip angle estimation system, comprising: the system comprises a memory and a processor, wherein the memory stores a slip angle estimation program, and the slip angle estimation program realizes the steps of the automatic driving slip angle estimation system method according to any one of the above steps when being executed by the processor.
The technical effects achieved by adopting the technical scheme are as follows: after the automatic driving software judges that the vehicle enters an automatic driving function and the vehicle speed is greater than a threshold value, starting to estimate a slip angle; calculating a slip angle in real time according to a vehicle speed value, a turning radius and vehicle parameters, and verifying rationality of the slip angle; if the slip angle passes the rationality check, carrying out transverse control compensation on the slip angle; if the slip angle does not pass the plausibility check, no compensation of the slip angle is performed for safety reasons.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention, as well as the preferred embodiments thereof, together with the following detailed description of the invention, given by way of illustration only, together with the accompanying drawings.
Drawings
FIG. 1 is a flow chart illustrating steps of a slip angle estimation method for use in autopilot in accordance with the present invention;
fig. 2 is an overall flowchart of a slip angle estimation method applied to automatic driving according to the present invention.
Detailed Description
In order to further illustrate the technical means and efficacy of the present invention as utilized to achieve the intended purpose, embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below are only some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on the embodiments of the present invention, are within the scope of the embodiments of the present invention. While the invention may be susceptible to further details of embodiment and specific details of construction and operation for achieving the desired purpose, there is shown in the drawings a form a further embodiment which may be used herein before to provide a further understanding of the invention.
Please refer to fig. 1 and 2. FIG. 1 is a flow chart illustrating steps of a slip angle estimation method for use in autopilot in accordance with the present invention; fig. 2 is an overall flowchart of a slip angle estimation method applied to automatic driving according to the present invention.
As shown in fig. 1, the slip angle estimation method applied to automatic driving of the present embodiment includes the steps of:
s11: and when the vehicle enters automatic driving and the speed of the vehicle exceeds a threshold value, estimating the slip angle.
During running of the vehicle, when the steering wheel is rotated, the tire can laterally rotate to enable the tire to elastically deform, and as the tire of the vehicle has elasticity, the angle rotated by the tread and the hub is different due to the elastic deformation of the tire, and the angle of the difference is the slip angle.
Illustratively, the speed of the vehicle exceeds a threshold value, which may be set according to different scenarios, for example, in a narrower road section, the threshold value may be 20km/h, 25km/h, etc.; the threshold may set a relatively high speed, which may be 30km/h, 40km/h, etc., over a wide road segment.
Optionally, when the vehicle enters automatic driving and the speed of the vehicle exceeds a threshold value, the step of estimating the slip angle includes, before: and when the vehicle does not enter automatic driving or the vehicle speed does not exceed a threshold value, slip angle estimation and compensation are not performed.
Optionally, before the step of estimating the slip angle when the vehicle enters automatic driving and the vehicle speed of the vehicle exceeds a threshold value, the method comprises: acquiring state information of the vehicle, and detecting whether the vehicle meets automatic driving requirements according to the state information; and when the vehicle meets the automatic driving requirement and the automatic driving function is started, confirming that the vehicle enters automatic driving.
Optionally, the step of estimating the slip angle is performed when the vehicle is detected to enter an automatic driving mode, and when the vehicle enters an automatic driving mode and the vehicle speed of the vehicle exceeds a threshold value.
S12: and acquiring the speed value, the turning radius and the vehicle parameters of the vehicle.
Optionally, the step of obtaining the vehicle speed value, the turning radius and the vehicle parameters of the vehicle includes: and acquiring a vehicle speed value of the vehicle, and carrying out filtering smoothing calculation on the vehicle speed value.
For example, a vehicle speed value is taken from a vehicle communication bus and a smoothing calculation is performed on the vehicle speed value.
The filtering algorithms that are relatively commonly used at present are: average filtering algorithm, median filtering algorithm, first order filtering algorithm and kalman filtering algorithm.
The average filtering algorithm is illustratively a relatively common and relatively simple filtering algorithm. In filtering, the average value is calculated by sampling values of N periods, and the algorithm is very simple. When the value of N is larger, the filtered signal is smoother, but the sensitivity is poor; on the contrary, when the value of N is smaller, the filtering smoothing effect is poor, but the sensitivity is good. The advantages are that: the method has the advantages of simple algorithm, good inhibition effect on periodic interference and high smoothness, and is suitable for a high-frequency vibration system. Disadvantages: the suppression effect on abnormal signals is poor, and the influence of pulse interference cannot be eliminated.
Optionally, the step of obtaining the vehicle speed value, the turning radius and the vehicle parameters of the vehicle further comprises: acquiring a lane line through a camera device; confirming a lane where the vehicle is located on a road according to the lane line, and calculating the curvature of a current path; and calculating the current turning radius according to the current path curvature.
Optionally, the vehicle parameters include: the distance from the mass center to the front and rear shafts, the whole vehicle mass and the cornering stiffness; the step of obtaining the vehicle speed value, the turning radius and the vehicle parameters of the vehicle further comprises the following steps: and acquiring the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the mass of the whole vehicle and the cornering stiffness.
S13: and calculating the slip angle in real time according to the vehicle speed value, the turning radius and the vehicle parameters.
Illustratively, parameters of the vehicle, the distance from the centroid to the front axle, the distance from the centroid to the rear axle, the mass of the whole vehicle, cornering stiffness, etc. are calculated.
S14: and carrying out rationality verification on the slip angle according to the value of the slip angle and the current state of the vehicle.
Optionally, the vehicle state includes: vehicle travel speed, road turning radius, and backup quality.
Optionally, the step of verifying the rationality of the slip angle according to the value of the slip angle and the current state of the vehicle includes: acquiring a slip angle threshold value of the vehicle according to the current state of the vehicle; comparing the slip angle to the slip angle threshold; if the slip angle does not exceed the slip angle threshold value, confirming that the slip angle is reasonable; if the slip angle exceeds the slip angle threshold, confirming that the slip angle is not reasonable.
S15: and if the verification is passed, performing transverse control compensation according to the slip angle.
S16: if the verification is not passed, the transverse control compensation is not performed.
Illustratively, after the autopilot software determines that the vehicle is entering the autopilot function and after the vehicle speed is greater than 30km/h, slip angle estimation begins, and if the autopilot function is not entered or the vehicle speed is less than 30km/h, slip angle estimation compensation does not occur.
Estimating slip angle:
1. firstly, the vehicle speed value is obtained from the vehicle communication bus, and the vehicle speed value is filtered and calculated smoothly.
2. After the lane lines are processed by the camera sensor of the automatic driving system, the lane lines of the vehicle on the road are calculated according to the lane lines, the curvature of the current path is calculated, and the current turning radius is calculated according to the curvature.
3. And calculating parameters of the vehicle, such as the distance from the mass center to the front axle, the distance from the mass center to the rear axle, the whole vehicle mass, cornering stiffness and the like.
4. And calculating the instantaneous slip angle in real time according to the three groups of parameters.
And carrying out rationality verification on the instantaneous slip angle according to the calculated value of the slip angle and the current state of the vehicle. And if the slip angle passes the rationality check, performing lateral control compensation on the slip angle. If the slip angle does not pass the plausibility check, no compensation of the slip angle is performed for safety reasons.
In an automatic driving system, estimating a slip angle through a software algorithm, and performing rationality check on a result estimated by the slip angle in real time; the slip angle passing the verification is compensated in real time, so that inaccurate control caused by elastic deformation of the tire can be compensated, and more comfortable experience is brought in the dynamic control process of the vehicle; if the slip angle does not pass the plausibility check, but for safety reasons, no lateral compensation of the slip angle is performed. The slip angle estimation method applied to automatic driving can drive a curve more safely under the condition of higher vehicle speed, and a sensor is not required to be additionally arranged.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the figures may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, or the order of their execution may not necessarily be sequential, but may be performed in rotation or alternating with at least some of the other steps or sub-steps of other steps.
From the foregoing description of the embodiments, those skilled in the art will readily appreciate that embodiments of the present invention may be implemented in hardware, or by means of software plus a necessary general purpose hardware platform. Based on such understanding, the technical solution of the embodiments of the present invention may be embodied in the form of a software product, where the software product may be stored in a non-volatile storage medium (may be a CD-ROM, a U-disk, a mobile hard disk, etc.), and includes several instructions for causing a computer device (may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective implementation scenario of the embodiments of the present invention.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the embodiments, the above examples and the accompanying drawings are exemplary, and the modules or processes in the drawings are not necessarily required to implement the embodiments of the present invention, and should not be construed as limiting the present invention, and various simple modifications and combinations of the technical solutions of the present invention may be made within the scope of the technical concept of the present invention, and all of the simple modifications and combinations are within the scope of the protection of the present invention.

Claims (10)

1. A slip angle estimation method applied to automatic driving, characterized by comprising:
when a vehicle enters automatic driving and the speed of the vehicle exceeds a threshold value, estimating a slip angle;
acquiring a speed value, a turning radius and vehicle parameters of the vehicle;
calculating a slip angle in real time according to the vehicle speed value, the turning radius and the vehicle parameters;
according to the value of the slip angle and the current state of the vehicle, carrying out rationality check on the slip angle;
if the verification is passed, performing transverse control compensation according to the slip angle;
if the verification is not passed, the transverse control compensation is not performed.
2. The slip angle estimation method applied to automatic driving according to claim 1, wherein the step of acquiring the vehicle speed value, turning radius, and vehicle parameters of the vehicle includes:
and acquiring a vehicle speed value of the vehicle, and carrying out filtering smoothing calculation on the vehicle speed value.
3. The slip angle estimation method applied to automatic driving according to claim 2, wherein the step of acquiring the vehicle speed value, turning radius, and vehicle parameters of the vehicle further comprises:
acquiring a lane line through a camera device;
confirming a lane where the vehicle is located on a road according to the lane line, and calculating the curvature of a current path;
and calculating the current turning radius according to the current path curvature.
4. A slip angle estimation method for use in autopilot as claimed in claim 3 wherein the vehicle parameters include: the distance from the mass center to the front and rear shafts, the whole vehicle mass and the cornering stiffness;
the step of obtaining the vehicle speed value, the turning radius and the vehicle parameters of the vehicle further comprises the following steps:
and acquiring the distance from the mass center of the vehicle to the front axle, the distance from the mass center to the rear axle, the mass of the whole vehicle and the cornering stiffness.
5. The slip angle estimation method applied to automatic driving according to claim 1, wherein the vehicle state includes: vehicle travel speed, road turning radius, and backup quality.
6. The slip angle estimation method for use in automatic driving according to claim 1, characterized by comprising, before the step of performing slip angle estimation when a vehicle enters automatic driving and a vehicle speed of the vehicle exceeds a threshold value:
acquiring state information of the vehicle, and detecting whether the vehicle meets automatic driving requirements according to the state information;
and when the vehicle meets the automatic driving requirement and the automatic driving function is started, confirming that the vehicle enters automatic driving.
7. The slip angle estimation method for use in automated driving according to claim 1 or 6, wherein the step of performing slip angle estimation includes, before the vehicle enters automated driving and the vehicle speed exceeds a threshold value:
and when the vehicle does not enter automatic driving or the vehicle speed does not exceed a threshold value, slip angle estimation and compensation are not performed.
8. The slip angle estimation method for automatic driving according to claim 1, wherein the step of rationalizing the slip angle according to the value of the slip angle and the current state of the vehicle comprises:
acquiring a slip angle threshold value of the vehicle according to the current state of the vehicle;
comparing the slip angle to the slip angle threshold;
if the slip angle does not exceed the slip angle threshold value, confirming that the slip angle is reasonable;
if the slip angle exceeds the slip angle threshold, confirming that the slip angle is not reasonable.
9. The slip angle estimation method applied to automatic driving according to claim 1, characterized in that the method further comprises:
and executing the step of estimating the slip angle when the vehicle enters the automatic driving mode and the speed of the vehicle exceeds a threshold value when the vehicle is detected to enter the automatic driving mode.
10. An automated slip angle estimation system, the automated slip angle estimation system comprising: a memory, a processor, wherein the memory has stored thereon a slip angle estimation program which, when executed by the processor, implements the steps of the automated driving slip angle estimation system method of any one of claims 1 to 9.
CN202310231765.5A 2023-03-07 2023-03-07 Slip angle estimation method applied to automatic driving Pending CN116101299A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310231765.5A CN116101299A (en) 2023-03-07 2023-03-07 Slip angle estimation method applied to automatic driving

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310231765.5A CN116101299A (en) 2023-03-07 2023-03-07 Slip angle estimation method applied to automatic driving

Publications (1)

Publication Number Publication Date
CN116101299A true CN116101299A (en) 2023-05-12

Family

ID=86261745

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310231765.5A Pending CN116101299A (en) 2023-03-07 2023-03-07 Slip angle estimation method applied to automatic driving

Country Status (1)

Country Link
CN (1) CN116101299A (en)

Similar Documents

Publication Publication Date Title
CN107628036B (en) Detection and reconstruction of sensor faults
US11731611B2 (en) Vehicle stability control method and device
US11465628B2 (en) Acceleration slip regulation method and vehicle
CN107685737B (en) Method and system for determining a slip runaway condition of a vehicle
US10479368B2 (en) Method and device for operating a driver assistance system, and driver assistance system
CN107878464B (en) Vehicle speed measuring method and device
CN109795477B (en) Method, device and storage medium for eliminating steady-state lateral deviation
CN110550024B (en) Vehicle operation control method and device based on automatic driving
US20130151066A1 (en) Determination of steering angle for a motor vehicle
JP6235609B2 (en) System and method for monitoring an estimated wheel speed of a vehicle using a transmission output shaft sensor
CN112519592B (en) Vehicle wheel speed control method and device and electric vehicle
CN104487307B (en) Method for detecting motor vehicles travel direction
CN109398097B (en) Wheel braking torque control method and device and braking energy recovery control system
CN107914771B (en) Steering system steering wheel angle determination
CN110539646A (en) Longitudinal speed estimation method and system for all-wheel-drive electric wheel automobile
US11142174B2 (en) Method for a utility vehicle which has a trailer coupling, device and utility vehicle for said method, and computer program product for same
CN108688668B (en) Method and system for vehicle lateral force control
CN109823334A (en) Reduce automatic parking tracking error method and system
CN116101299A (en) Slip angle estimation method applied to automatic driving
CN111062088B (en) Four-wheel independent drive electric vehicle reference speed fault-tolerant self-adaptive estimation method
EP4197821A1 (en) Tire stiffness estimation system and method
CN107719373B (en) Method and system for estimating road friction
JP3282449B2 (en) Vehicle skidding state quantity detection device
JP2002225694A (en) Monitoring method and system of wheel speed
US11794810B2 (en) Apparatus and method for estimating steering angle of vehicle

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination